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authorNélio Laranjeiro2008-04-04 22:54:09 +0200
committerNélio Laranjeiro2008-04-04 22:54:09 +0200
commit787f9cdd49464345c896d2445ab82314cec5c4a6 (patch)
tree209c2c0caace20e2083194c0b6ba9345d80a3b23 /digital/io/doc
parent17cd185559320a20f09ccb3cd7743b96b79dcc4c (diff)
Update the fsm for the movement.
Diffstat (limited to 'digital/io/doc')
-rw-r--r--digital/io/doc/move.dot21
1 files changed, 10 insertions, 11 deletions
diff --git a/digital/io/doc/move.dot b/digital/io/doc/move.dot
index dd92d6de..21f03398 100644
--- a/digital/io/doc/move.dot
+++ b/digital/io/doc/move.dot
@@ -3,18 +3,17 @@
digraph move
{
- start -> "go_to_position" [label ="ok"];
- "go_to_position" -> end [label = "reached"];
+ start -> "desired position" [label = "ok"];
+ "desired position" -> end [label = "reached"];
+ "desired position" -> "move on left" [label = "failed or blocked\n border left is far"];
+ "desired position" -> "move on right" [label = "failed or blocked\n border right is far"];
- "go_to_position" -> "failed \n or \n blocked";
- "failed \n or \n blocked" -> "move_on_left" [label = "Far from left boarder"];
- "failed \n or \n blocked" -> "move_on_right" [label = "Far from right boarder"];
+ "move on left" -> "move on left" [label = "failed or blocked"];
+ "move on left" -> "desired position" [label = "reached"];
- "move_on_right" -> "go_to_position" [label = "reached"]
- "move_on_right" -> "failed \n or \n blocked";
- "move_on_right" -> "move_on_left" [label = "fail || block \n&&\n near border"];
+ "move on right" -> "move on right" [label = "failed or blocked"];
+ "move on right" -> "desired position" [label = "reached"];
- "move_on_left" -> "go_to_position" [label = "reached"]
- "move_on_left" -> "failed \n or \n blocked";
- "move_on_left" -> "move_on_right" [label = "fail || block \n&&\n near border"];
+ "move on right" -> "move on left" [label = "near right border"];
+ "move on left" -> "move on right" [label = "near left border"];
}